The number of research initiatives that employ 3D point cloud processing has increased substantially since the introduction of affordable off-the-shelf 3D cameras, such as the Microsoft Kinect. This is shown, among other things, by the number of workshops on related topics in the fields of robotics and computer vision. The proposed tutorial will equip researchers, developers and R&D engineers with the tools necessary to start realizing new and interesting ideas, based on the Point Cloud Library (PCL), which builds on its large set of tools and state-of-the-art algorithms to allow advanced 3D processing. For this, we introduce the available methods, present existing systems realized using the framework, as well as give advice on how to use it in new projects. The goal is to provide an overview of standard solutions to common 3D processing problems and to present modules such as filtering, feature estimation, segmentation, registration, object recognition, surface reconstruction and people detection. Furthermore, we will emphasize hot topics in 3D processing, how they can be attacked using PCL and show this in live demonstrations. We will also provide sample code that participants can try out during hands-on sessions. The invited speakers will talk about the features in PCL, present how they use it in their work, and will be available to answer spontaneous questions of the participants during the sessions and in separate conversations during the breaks. This way, we hope to provide an extensive walkthrough through the field of 3D point cloud processing and show PCL’s strengths in prototyping and building solutions for complicated perception problems.